I want to ask if there is a way to make a sliding body using XPAL and JOODE. I mean that the body can't bounce. It would be nice to prevent it from rotating, too. If I have success on solving this problem, my game's development will speed up a lot.

What methods should I call to put these values into SurfaceParameters?

This is not an XPAL problem. The SurfaceParameters are simply forwarded to JOODE. JOODE currently honors the following parameters:

bounce

bounce_vel

fdir1

"bounce" is the bounciness and "bounce_vel is the velocity vector of the bouncing. I have no idea, what fdir is. Maybe it's something about friction. Hey, JOODE-experts! Are there any other parameters, that we should forward. How do I set the friction in JOODE?

And as far as my experience says, the changing the bounciness value doesn't have any effect. Would be cool to get this working.

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